00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2009, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of the Willow Garage nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 # 00034 00035 ##\author Kevin Watts 00036 00037 ##\brief Publishes diagnostic messages for robot monitor regression test 00038 00039 PKG = 'robot_monitor' 00040 00041 import roslib; roslib.load_manifest(PKG) 00042 00043 import rospy 00044 from time import sleep 00045 00046 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus 00047 00048 if __name__ == '__main__': 00049 rospy.init_node('diag_agg_pub') 00050 pub = rospy.Publisher('diagnostics_agg', DiagnosticArray) 00051 00052 array = DiagnosticArray() 00053 array.status = [ 00054 DiagnosticStatus(1, '/BASE', 'OK', '', []), 00055 DiagnosticStatus(0, '/BASE/group1', 'OK', '', []), 00056 DiagnosticStatus(1, '/BASE/group1/item1', 'Warning', '', []), 00057 DiagnosticStatus(0, '/BASE/group1/item2', 'OK', '', []), 00058 00059 DiagnosticStatus(0, '/BASE/group2', 'OK', '', []), 00060 DiagnosticStatus(0, '/BASE/group2/item1', 'OK', '', []), 00061 DiagnosticStatus(1, '/BASE/group2/item2', 'Warning', '', []), 00062 00063 DiagnosticStatus(2, '/BASE2', 'OK', '', []), 00064 DiagnosticStatus(2, '/BASE2/group3', 'OK', '', []), 00065 DiagnosticStatus(0, '/BASE2/group3/item1', 'OK', '', []), 00066 DiagnosticStatus(2, '/BASE2/group3/item2', 'Error', '', []), 00067 DiagnosticStatus(3, '/BASE2/group3/item3', 'Stale', '', [])] 00068 array.header.stamp = rospy.get_rostime() 00069 00070 while not rospy.is_shutdown(): 00071 pub.publish(array) 00072 sleep(1)